Tan, Q, Dai, P, Zhang, Z & Katupitiya, J 2018, 'MPC and PSO based control methodology for path tracking of 4WS4WD vehicles', Applied Sciences (Switzerland), vol. 8, no. 6.View/Download from: UTS OPUS or Publisher's site
© 2018 by the authors. Four wheel steering and four wheel drive (4WS4WD) vehicles are over-actuated systems with superior performance. Considering the control problem caused by the system nonlinearity and over-actuated characteristics of the 4WS4WD vehicle, this paper presents two methods to enable a 4WS4WD vehicle to accurately follow a predefined path as well as its reference trajectories including velocity and acceleration profiles. The methodologies are based on model predictive control (MPC) and particle swarm optimization (PSO), respectively. The MPC method generates the virtual inputs in the upper controller and then allocates the actual inputs in the lower controller using sequential quadratic programming (SQP), whereas the PSO method is proposed as a fully optimization based method for comparison. Both methods achieve optimization of the steering angles and wheel forces for each of four independent wheels simultaneously in real time. Simulation results achieved by two different controllers in following the reference path with varying disturbances are presented. Discussion about two methodologies is provided based on their theoretical analysis and simulation results.
Dai, P, Taghia, J, Lam, S & Katupitiya, J 2018, 'Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle', Autonomous Robots, vol. 42, no. 3, pp. 553-568.View/Download from: UTS OPUS or Publisher's site
Dai, P & Katupitiya, J 2018, 'Force control for path following of a 4WS4WD vehicle by the integration of PSO and SMC', Vehicle System Dynamics, vol. 56, no. 11, pp. 1682-1716.View/Download from: UTS OPUS or Publisher's site
Cong, M, Wen, H, Du, Y & Dai, P 2012, 'Coaxial twin-shaft magnetic fluid seals applied in vacuum wafer-handling robot', Chinese Journal of Mechanical Engineering, vol. 25, no. 4, pp. 706-714.View/Download from: Publisher's site
Dai, P & Katupitiya, J 2015, 'Force control of a 4WS4WD vehicle for path tracking', 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), IEEE.View/Download from: Publisher's site
Dai, P & Katupitiya, J 2015, 'Online path tracking and motion optimization of a 4WS4WD vehicle', 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE.View/Download from: Publisher's site
Dai, P & Katupitiya, J 2014, 'Path planning and force control of a 4WD4WS vehicle', Melbourne.
Dai, P & Katupitiya, J 2014, 'Path planning and tracking of a 4WD4WS vehicle to be driven under force control', 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014, pp. 1709-1715.View/Download from: Publisher's site
The aim of this paper is to investigate the possibility of developing a system where forces at the wheels of a ground vehicle are controlled to guide the vehicle along a predetermined path. Any deviations from the desired path is handled using Bézier curve segments that put the vehicle back on track. The Bézier curve segments determine the necessary forces at the wheels. The future aim is to implement independent force control at each of the drive/steering modules of the vehicle. The vehicle is considered to be a rigid body with known inertia and mass. The paper presents path generation using Bézier curves, the extraction of desired forces and the determination of desired steering and propulsion to achieve the desired forces at the wheels of the vehicle. The forces and the control inputs such as the steering angles are then applied to a four wheel driven and four wheel steered vehicle subjected to slip in an open loop setting. Note that this paper does not address the force control issues. Simulation data are generated to validate the proposed methodology. © 2014 IEEE.
Dai, P & Cong, M 2009, 'A study on wafer-handling robot with coaxial twin-shaft magnetic fluid seals', Singapore.